Control methods, devices, equipment, storage media and products for vehicle satellite positioning

Abstract

This invention discloses a control method, apparatus, device, storage medium, and product for vehicle satellite positioning. The method includes: upon receiving a stop positioning request from a vehicle-side communication master control system, acquiring satellite positioning status information; generating a feedback request based on the satellite positioning status information and preset satellite positioning shutdown conditions; if the feedback request is a confirmed stop request, updating the satellite positioning status flag to an unavailable state to terminate vehicle positioning using satellite positioning; sending the feedback request to the vehicle-side communication master control system, so that when the vehicle-side communication master control system determines that the feedback request is a confirmed stop request, it sends communication information to the vehicle-side satellite communication system, and after the communication information is sent, sends an information transmission completion command to the vehicle-side communication positioning system; receiving the information transmission completion command and updating the satellite positioning status flag to an available state to initiate vehicle positioning using satellite positioning.

Description

Technical Field

[0001] This invention relates to the field of automotive communication technology, and in particular to a control method, device, equipment, storage medium, and product for vehicle satellite positioning. Background Technology

[0002] In the field of automotive communications, in-vehicle satellite communication systems communicate with overhead communication satellites via an in-vehicle satellite communication antenna. Simultaneously, in-vehicle satellite positioning systems communicate with positioning satellites via an in-vehicle satellite positioning antenna. When both systems operate concurrently, the signals transmitted by the in-vehicle satellite communication system can affect the in-vehicle satellite positioning system, leading to increased positioning errors and mispositioning. This can cause position drift in the vehicle's navigation system, resulting in incorrect navigation.

[0003] Existing vehicle satellite positioning technologies do not consider the impact of the transmitted signals of the vehicle-mounted satellite communication system on the satellite positioning system, and cannot effectively solve the problem of vehicle position drift in vehicle navigation functions. This leads to problems such as incorrect vehicle navigation and a significant reduction in navigation accuracy during the transmission of signals by the vehicle-mounted satellite communication system. Summary of the Invention

[0004] This invention provides a control method, device, equipment, storage medium, and product for vehicle satellite positioning, in order to solve the problem of vehicle navigation errors during signal transmission by vehicle-mounted satellite communication systems and improve the accuracy of vehicle navigation.

[0005] According to one aspect of the present invention, a control method for vehicle satellite positioning is provided, applied to an in-vehicle positioning and communication system at the vehicle end, wherein the vehicle end further includes an in-vehicle communication main control system and an in-vehicle satellite communication system, wherein the in-vehicle positioning and communication system and the in-vehicle satellite communication system are respectively communicatively connected to the in-vehicle communication main control system, and the method includes:

[0006] Upon receiving a stop positioning request from the vehicle-side communication main control system, satellite positioning status information is obtained;

[0007] Based on the satellite positioning status information and a preset satellite positioning shutdown condition, a feedback request is generated.

[0008] If the feedback request is a confirmation stop request, then the satellite positioning status flag is updated to an unavailable state to terminate vehicle positioning using satellite positioning; and,

[0009] The feedback request is sent to the vehicle communication master control system, so that when the vehicle communication master control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion instruction to the vehicle communication positioning system.

[0010] The system receives the information and sends a completion command, and updates the satellite positioning status flag to an available state to initiate vehicle positioning using the satellite positioning method.

[0011] According to another aspect of the present invention, a control device for vehicle satellite positioning is provided, characterized in that an on-board positioning communication system is configured at the vehicle end, the vehicle end further comprising an on-board communication main control system and an on-board satellite communication system, the on-board positioning communication system and the on-board satellite communication system being communicatively connected to the on-board communication main control system respectively, the device comprising:

[0012] The status information acquisition module is used to acquire satellite positioning status information when it receives a stop positioning request sent by the vehicle-side communication main control system;

[0013] The feedback request generation module is used to generate a feedback request based on the satellite positioning status information and a preset satellite positioning shutdown condition.

[0014] The status update module is used to update the satellite positioning status flag to an unavailable state if the feedback request is a confirmation stop request, thereby terminating vehicle positioning using satellite positioning; and,

[0015] The feedback request sending module is used to send the feedback request to the vehicle communication main control system, so that when the vehicle communication main control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion instruction to the vehicle communication positioning system.

[0016] The completion instruction receiving module is used to receive the information to send a completion instruction and update the satellite positioning status flag to an available state in order to start vehicle positioning using the satellite positioning method.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the vehicle satellite positioning control method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle satellite positioning control method according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the vehicle satellite positioning control method described in any embodiment of the present invention.

[0023] The above technical solution solves the problem of vehicle position drift caused by interference from the vehicle satellite communication system's transmitted signals to the vehicle positioning communication system when both systems are operating simultaneously. By marking the status results of the vehicle satellite positioning system during signal transmission, the confidence level of the satellite positioning results in the vehicle positioning system during this period is reduced, thus avoiding erroneous vehicle navigation and improving the accuracy of vehicle navigation.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1A This is a flowchart of a vehicle satellite positioning control method according to Embodiment 1 of the present invention;

[0027] Figure 1B This is a schematic diagram of a vehicle end structure provided according to Embodiment 1 of the present invention;

[0028] Figure 2 This is a flowchart of a vehicle satellite positioning control method according to Embodiment 2 of the present invention;

[0029] Figure 3 This is an interactive flowchart of a vehicle satellite positioning control method provided in Embodiment 3 of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of a vehicle satellite positioning control device according to Embodiment 4 of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the vehicle satellite positioning control method of this invention. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0034] Example 1

[0035] Figure 1A This is a flowchart of a vehicle satellite positioning control method provided in Embodiment 1 of the present invention. This embodiment is applicable to the case of satellite-based vehicle positioning. The method can be executed by a vehicle satellite positioning control device, which can be implemented in hardware and / or software. The vehicle satellite positioning control device can be configured in the vehicle-mounted positioning communication system at the vehicle end.

[0036] like Figure 1B The diagram shows a vehicle-side structure. The vehicle-side 10 includes an on-board positioning and communication system 11, an on-board communication main control system 12, and an on-board satellite communication system 13. The on-board positioning and communication system 11 and the on-board satellite communication system 13 are respectively connected to the on-board communication main control system 12.

[0037] In satellite communication systems, the BeiDou-3 short message transmission signal is 1618.34MHz±4.08MHz; the StarNet low-orbit satellite transmission signal is L-band 1518~1525MHz. However, the BeiDou-3 system's positioning reception signal uses the B1i signal at 1561.098MHz and the B1c signal at 1575.420MHz. Since the communication frequency bands between the vehicle-mounted (satellite) positioning communication system and the vehicle-mounted satellite communication system are similar, the transmitted satellite communication signals will interfere with the satellite positioning reception signal. When the received signal of the vehicle-mounted (satellite) positioning communication system is affected by the transmitted signal of the vehicle-mounted satellite communication information, the positioning error will increase, leading to incorrect positioning settings and causing vehicle position drift in the vehicle navigation function, resulting in incorrect navigation.

[0038] The vehicle-mounted communication main control system 12 is used to control the vehicle-mounted positioning communication system 11 and the vehicle-mounted satellite communication system 13, and to send instructions, requests or information to the vehicle-mounted positioning communication system 11 and the vehicle-mounted satellite communication system 13 to coordinate the collaborative work between the two systems.

[0039] like Figure 1A As shown, this method is executed by the vehicle-mounted positioning and communication system on the vehicle side, and includes:

[0040] S110. Upon receiving a stop positioning request from the vehicle-side communication main control system, obtain satellite positioning status information.

[0041] Before sending information to the vehicle-mounted satellite communication system, the vehicle-mounted communication master control system sends a stop positioning request to the vehicle-mounted positioning communication system to temporarily terminate its operation, in order to avoid interference from the vehicle-mounted positioning communication system's transmitted signals. Upon receiving the stop positioning request from the communication master control system, the vehicle-mounted positioning communication system acquires satellite positioning status information. This satellite positioning status information may include information on the number of satellites received, positioning accuracy, and positioning mode.

[0042] Among them, the number of satellites received information refers to the number of satellites that the vehicle-mounted positioning and communication system can receive signals from. The more satellites received, the higher the positioning accuracy and reliability provided; the fewer satellites received, the lower the positioning accuracy and reliability provided.

[0043] Positioning accuracy information may include DOP (Dilution of Precision) information. DOP is one of the indicators for measuring the positioning accuracy of GPS (Global Positioning System). DOP can include several different types, such as HDOP (Horizontal Precision Factor) and VDOP (Vertical Precision Factor). Each type of factor reflects the geometric distribution of satellites at the vehicle's location, that is, whether the satellite arrangement is conducive to providing accurate positioning information. The lower the DOP value, the more favorable the satellite geometric distribution is for positioning, and the higher the positioning accuracy; the higher the DOP value, the lower the positioning accuracy.

[0044] The positioning mode information can include 2D (two-dimensional) positioning mode and 3D (three-dimensional) positioning mode. 2D positioning provides horizontal position information and typically uses three or more satellites. 3D positioning provides three-dimensional position information, including altitude, and typically uses four or more satellites. The accuracy of 3D positioning mode is slightly higher than that of 2D positioning mode.

[0045] S120. Based on the satellite positioning status information and the preset satellite positioning shutdown conditions, generate a feedback request.

[0046] The feedback requests include confirmation of a stop request and rejection of a stop request. A confirmation of a stop request can indicate that the vehicle-mounted positioning and communication system must stop using satellite positioning and cease transmitting signals. A rejection of a stop request can indicate that the current satellite positioning accuracy is high and the system relies heavily on satellite positioning; terminating satellite positioning would cause significant navigational deviations, therefore, a rejection of a stop request is sent to the vehicle-mounted communication main control system.

[0047] If the vehicle-mounted communication main control system receives a stop-rejection request, it can send information to the vehicle-mounted satellite communication system without considering the influence of the positioning communication system's transmission signal. Alternatively, it can determine whether to send information to the vehicle-mounted satellite communication system upon receiving a stop-rejection request based on the priority of the information sent. For example, if the information sending priority is high, it sends information to the vehicle-mounted satellite communication system; if the information sending priority is low, it does not send information to the vehicle-mounted satellite communication system, or waits for the specified interval before sending another request to the vehicle-mounted positioning communication system to determine whether it is permissible to send information to the vehicle-mounted satellite communication system.

[0048] Among them, the satellite positioning shutdown conditions can be preset by relevant technical personnel, specifically, a feedback request can be generated when the satellite positioning status information meets the positioning accuracy conditions.

[0049] In one optional embodiment, the satellite positioning status information includes received satellite quantity information, positioning accuracy information, and positioning mode information. Accordingly, based on the satellite positioning status information and a preset satellite positioning shutdown condition, a feedback request is generated, including: generating a first judgment result based on the received satellite quantity information and a preset quantity judgment condition; generating a second judgment result based on the positioning accuracy information and a preset accuracy judgment condition; and generating a third judgment result based on the positioning mode information and a preset mode judgment condition; and generating a feedback request based on the first judgment result, the second judgment result, and the third judgment result.

[0050] If the number of received satellites is determined to reach a preset threshold based on the received satellite count information, the first judgment result is that the positioning accuracy is high; if the number of received satellites is determined to be less than the preset threshold based on the received satellite count information, the first judgment result is that the positioning accuracy is low.

[0051] If the DOP value is determined to reach the preset DOP threshold based on the positioning accuracy information, the second judgment result is that the positioning accuracy is low; if the DOP value is determined not to reach the preset DOP threshold based on the positioning accuracy information, the second judgment result is that the positioning accuracy is high.

[0052] If the positioning mode is determined to be 3D positioning mode based on the positioning mode information, the third judgment result is that the positioning accuracy is relatively high; if the positioning mode is determined to be 2D positioning mode based on the positioning mode information, the third judgment result is that the positioning accuracy is relatively low.

[0053] In an optional embodiment, a feedback request is generated based on the first judgment result, the second judgment result, and the third judgment result, including: if the first judgment result, the second judgment result, and the third judgment result all meet the preset judgment condition of high satellite positioning accuracy, then a feedback request that the request cannot be stopped is generated; if any of the first judgment result, the second judgment result, and the third judgment result does not meet the preset judgment condition of high satellite positioning accuracy, then a feedback request that confirms the stop request is generated.

[0054] The criteria for determining high satellite positioning accuracy can be preset by relevant technical personnel. For example, if the first, second, and third judgment results are all of high positioning accuracy, a feedback request indicating that the request cannot be stopped is generated; if any of the first, second, and third judgment results is of low positioning accuracy, a feedback request confirming the stop request is generated.

[0055] S130A: If the feedback request is a confirmation of a stop request, the satellite positioning status flag will be updated to an unavailable state to terminate the use of satellite positioning for vehicle positioning.

[0056] S130B: Send the feedback request to the vehicle communication master control system, so that when the vehicle communication master control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion command to the vehicle communication positioning system.

[0057] For example, the vehicle-mounted positioning and communication system sends a feedback request to the vehicle-mounted communication main control system. If the feedback request received by the vehicle-mounted communication main control system is a confirmation stop request, it sends communication information to the vehicle-mounted satellite communication system. The vehicle-mounted satellite communication system processes the sent communication information and sends an information transmission completion command to the vehicle-mounted communication main control system. After receiving the information transmission completion command, i.e., after the communication information transmission is completed, the vehicle-mounted communication main control system sends an information transmission completion command to the vehicle-mounted communication and positioning system.

[0058] S140. Receive the information and send the completion command, and update the satellite positioning status flag to the available state to start the vehicle positioning using satellite positioning.

[0059] The technical solution of this invention obtains satellite positioning status information upon receiving a stop positioning request from the vehicle-mounted communication master control system; generates a feedback request based on the satellite positioning status information and preset satellite positioning shutdown conditions; if the feedback request is a confirmation of stop request, the satellite positioning status flag is updated to an unavailable state to terminate vehicle positioning using satellite positioning; and sends the feedback request to the vehicle-mounted communication master control system, so that when the vehicle-mounted communication master control system determines that the feedback request is a confirmation of stop request, it sends communication information to the vehicle-mounted satellite communication system, and after the communication information is sent, it sends an information transmission completion command to the vehicle-mounted communication positioning system; receives the information transmission completion command, and updates the satellite positioning status flag to an available state to start vehicle positioning using satellite positioning. The above technical solution solves the problem of vehicle position drift in vehicle navigation caused by interference from the vehicle-mounted satellite communication system's transmitted signals to the vehicle-mounted positioning communication system when both the vehicle-mounted satellite communication system and the vehicle-mounted positioning communication system are working simultaneously. By marking the status results of the vehicle-mounted satellite positioning system when the vehicle-mounted satellite communication system transmits signals, the confidence level of the satellite positioning results in the vehicle-mounted positioning system during this period is reduced, thereby avoiding vehicle navigation errors and improving the accuracy of vehicle navigation.

[0060] Example 2

[0061] Figure 2 This is a flowchart of a vehicle satellite positioning control method provided in Embodiment 2 of the present invention. This embodiment is an optimization and improvement based on the above technical solutions.

[0062] Furthermore, after the step "update the satellite positioning status flag to an unavailable state", the following step is added: "obtain the initial weight value of the positioning source of the vehicle positioning communication system itself; the positioning source includes a satellite positioning source and an inertial navigation positioning source; update the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively using preset reference weight values ​​to obtain the current weight values ​​of the satellite positioning source and the inertial navigation positioning source." Correspondingly, after the step "update the satellite positioning status flag to an available state", the following step is added: "update the current weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively using the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source." This improves the termination method for satellite positioning.

[0063] After the step "If the feedback request is a confirmation stop request, update the satellite positioning status flag to an unavailable state to terminate vehicle positioning using satellite positioning," add the step "Obtain the vehicle's current mileage in the current time period; based on the current mileage and a preset mileage threshold, generate a satellite positioning enable request; send the satellite positioning enable request to the vehicle communication master control system, so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of communication information, and generate an information transmission judgment instruction." to add a method for generating satellite positioning requests.

[0064] It should be noted that for parts not described in detail in the embodiments of the present invention, please refer to the descriptions in other embodiments. For example... Figure 2 As shown, the method includes the following specific steps:

[0065] S210. Upon receiving a stop positioning request from the vehicle-side communication main control system, obtain satellite positioning status information.

[0066] S220. Based on the satellite positioning status information and the preset satellite positioning shutdown conditions, generate a feedback request.

[0067] S230. If the feedback request is a confirmation of a stop request, the satellite positioning status flag will be updated to an unavailable state to terminate the use of satellite positioning for vehicle positioning.

[0068] S240. Obtain the initial weight values ​​of the positioning sources of the vehicle positioning and communication system itself; the positioning sources include satellite positioning sources and inertial navigation positioning sources.

[0069] It should be noted that the built-in algorithm of the vehicle navigation system includes two positioning sources: satellite positioning and inertial navigation positioning. The algorithm automatically assigns the same or different weight values, i.e., initial weight values, to the two positioning sources.

[0070] S250. Update the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively using preset reference weight values ​​to obtain the current weight values ​​of the satellite positioning source and the inertial navigation positioning source.

[0071] When it is determined that satellite positioning will no longer be used for vehicle positioning, in order to ensure the accuracy of the subsequent inertial navigation system's algorithm position calculation and to guarantee the accuracy and continuity of vehicle position information, the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source are reset. Specifically, the initial weight parameter of the satellite positioning source can be set to a preset reference weight value, which can be set to 0%, and the initial weight value of the navigation positioning source can be reset to 100%. This results in the current weight value of the satellite positioning source being 0 and the current weight value of the navigation positioning source being 100.

[0072] To avoid the inability to use satellite positioning due to prolonged information transmission, and because using inertial navigation alone would lead to excessive accumulation of positioning errors, the vehicle positioning communication system changes the satellite positioning flag to unavailable and then starts mileage accumulation. When the accumulated mileage exceeds a certain mileage threshold, it requests the vehicle communication main control system to stop sending communication information.

[0073] S260: Obtain the current mileage of the vehicle in the current time period.

[0074] S270. Based on the current vehicle mileage and a preset mileage threshold, generate a request to enable satellite positioning.

[0075] The preset mileage threshold can be pre-set by relevant technical personnel. For example, the preset mileage threshold can be set to 500m.

[0076] For example, the current vehicle mileage is determined, and when the mileage exceeds 500m, a request to initiate satellite positioning is generated.

[0077] S280. A satellite positioning activation request will be sent to the vehicle communication master control system, so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of communication information, and generate an information transmission judgment instruction.

[0078] The vehicle-mounted positioning and communication system will send a satellite positioning activation request to the vehicle-mounted communication main control system. When the vehicle-mounted communication main control system receives the satellite positioning activation request, it determines the priority of the communication information to be sent to the vehicle-mounted satellite communication system, and determines whether to send a stop information transmission request to the vehicle-mounted communication main control system based on the priority, and generates an information transmission judgment instruction.

[0079] Specifically, if the priority of the communication information is greater than a preset priority threshold, it can be determined that the communication information may be related to rescue efforts. In this case, the transmission of communication information to the vehicle-mounted satellite communication system will not be stopped, and a transmission judgment instruction will be generated, which is a wait instruction for transmission. If the priority of the communication information is not greater than the preset priority threshold, it can be determined that the communication information may be unrelated to rescue efforts. In this case, a transmission judgment instruction will be generated, which is a stop instruction for transmission.

[0080] S290. Send the feedback request to the vehicle communication master control system so that when the vehicle communication master control system determines that the feedback request is a confirmation stop request, it can send communication information to the vehicle satellite communication system and send an information transmission completion command to the vehicle communication positioning system after the communication information is sent.

[0081] S2100: Receive information and send completion command, and update the satellite positioning status flag to the available state to start vehicle positioning using satellite positioning method.

[0082] In an optional embodiment, after sending the satellite positioning enable request to the vehicle communication master control system so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of communication information and generate an information transmission judgment instruction, the method further includes: if the information transmission judgment instruction sent by the vehicle communication master control system is a stop information transmission instruction, and / or the information transmission completion instruction sent by the vehicle communication system is received, then the satellite positioning status flag is updated to an available state.

[0083] S2110. Using the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source, update the current weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively.

[0084] This embodiment's technical solution generates a satellite positioning activation request based on the vehicle's current mileage and a preset mileage threshold. This request is then sent to the vehicle communication control system, which determines whether to send a stop information transmission request based on the priority of communication information and generates an information transmission judgment command. This avoids the situation where prolonged information transmission renders satellite positioning unusable, whereas relying solely on inertial navigation would lead to excessively accumulated positioning errors. By updating the initial weight values ​​of both the satellite positioning source and the inertial navigation positioning source with preset reference weight values, the current weight values ​​of both sources are obtained. This ensures the accuracy of subsequent position calculations by the inertial navigation system, guaranteeing accurate and continuous vehicle position information, thereby improving vehicle navigation accuracy.

[0085] Example 3

[0086] Figure 3 This is an interactive flowchart of a vehicle satellite positioning control method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment provides a preferred example.

[0087] like Figure 3 As shown, the method includes the following specific steps:

[0088] S1. The vehicle communication main control system sends a stop positioning request to the vehicle positioning communication system.

[0089] S2. The vehicle-mounted positioning and communication system determines whether to disable satellite positioning based on satellite positioning status information, and if it decides to disable it, sends a confirmation stop request to the vehicle-mounted communication main control system. The vehicle-mounted communication main control system then sends communication information to the vehicle-mounted satellite communication system.

[0090] S3. Update the satellite positioning status to unavailable.

[0091] The execution order of S2 and S3 is not limited; they can be executed simultaneously, or S2 can be executed first, followed by S3.

[0092] S4. Adjust the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source, and do not use the positioning results of the satellite positioning source for calculation.

[0093] S5. Real-time detection of whether the vehicle's mileage has reached the set 500 meters after sending a confirmation stop request.

[0094] S6. When the vehicle reaches a mileage of 500 meters, send a request to the vehicle communication main control system to activate satellite positioning.

[0095] S7. The vehicle-mounted communication main control system determines the priority of communication information. If the priority is low, it stops sending and sends a request to stop sending information to the vehicle-mounted satellite communication system, and sends a stop sending instruction and / or a message sending completion instruction to the vehicle-mounted positioning communication system.

[0096] S8. When the vehicle-mounted positioning and communication system receives a stop information transmission command and / or an information transmission completion command, it will update the satellite positioning status to an available state.

[0097] S9. Adjust the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source, and re-enable the positioning results of the satellite positioning source for calculation.

[0098] Example 4

[0099] Figure 4This is a schematic diagram of a vehicle satellite positioning control device provided in Embodiment 4 of the present invention. The vehicle satellite positioning control device provided in this embodiment of the present invention is applicable to situations involving satellite-based vehicle positioning. This vehicle satellite positioning control device can be implemented in hardware and / or software, such as... Figure 4 As shown, this device can be configured in a vehicle-mounted positioning and communication system, specifically including: a status information acquisition module 401, a feedback request generation module 402, a status update module 403, a feedback request sending module 404, and a completion instruction receiving module 405. Among them,

[0100] The status information acquisition module 401 is used to acquire satellite positioning status information when it receives a stop positioning request sent by the vehicle-side communication main control system;

[0101] The feedback request generation module 402 is used to generate a feedback request based on the satellite positioning status information and a preset satellite positioning shutdown condition.

[0102] The status update module 403 is configured to update the satellite positioning status flag to an unavailable state if the feedback request is a confirmation stop request, thereby terminating vehicle positioning using satellite positioning; and,

[0103] The feedback request sending module 404 is used to send the feedback request to the vehicle communication master control system, so that when the vehicle communication master control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion instruction to the vehicle communication positioning system.

[0104] The completion instruction receiving module 405 is used to receive the information to send a completion instruction and update the satellite positioning status flag to an available state in order to start vehicle positioning using the satellite positioning method.

[0105] The above technical solution solves the problem of vehicle position drift caused by interference from the vehicle satellite communication system's transmitted signals to the vehicle positioning communication system when both systems are operating simultaneously. By marking the status results of the vehicle satellite positioning system during signal transmission, the confidence level of the satellite positioning results in the vehicle positioning system during this period is reduced, thus avoiding erroneous vehicle navigation and improving the accuracy of vehicle navigation.

[0106] Optionally, the satellite positioning status information includes information on the number of satellites received, positioning accuracy information, and positioning mode information; correspondingly, the feedback request generation module 402 includes:

[0107] The first result generation unit is configured to generate a first judgment result based on the received satellite quantity information and a preset quantity judgment condition; and,

[0108] The second result generation unit is used to generate a second judgment result based on the positioning accuracy information and a preset accuracy judgment condition; and,

[0109] The third result generation unit is used to generate a third judgment result based on the positioning mode information and a preset mode judgment condition.

[0110] The feedback request generation unit is used to generate a feedback request based on the first judgment result, the second judgment result, and the third judgment result.

[0111] Optionally, the feedback request generation unit includes:

[0112] The first request generation subunit is used to generate a feedback request that cannot be stopped if the first judgment result, the second judgment result and the third judgment result all meet the preset judgment condition of high satellite positioning accuracy.

[0113] The second request generation subunit is used to generate a feedback request to confirm the stop request if any of the first judgment result, the second judgment result, and the third judgment result does not meet the preset judgment condition of high satellite positioning accuracy.

[0114] Optionally, the device further includes:

[0115] The initial weight value acquisition module is used to acquire the initial weight value of the positioning source of the vehicle positioning communication system itself after the satellite positioning status flag is updated to an unavailable state; the positioning source includes a satellite positioning source and an inertial navigation positioning source;

[0116] The first weight update module is used to update the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively using preset reference weight values, so as to obtain the current weight values ​​of the satellite positioning source and the inertial navigation positioning source.

[0117] The second weight update module, after updating the satellite positioning status flag to an available state, uses the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source to update the current weight values ​​of the satellite positioning source and the inertial navigation positioning source, respectively.

[0118] Optionally, the device further includes:

[0119] The current mileage acquisition module is used to acquire the current vehicle mileage in the current time period after updating the satellite positioning status flag to an unavailable state to terminate the vehicle positioning using satellite positioning if the feedback request is a confirmation stop request.

[0120] The location request generation module is used to generate a satellite positioning activation request based on the current vehicle mileage and a preset mileage threshold.

[0121] The positioning request sending module is used to send the satellite positioning enable request to the vehicle communication master control system, so that the vehicle communication master control system can determine whether to send a stop information sending request to the vehicle communication master control system according to the priority of the communication information, and generate an information sending judgment instruction.

[0122] Optionally, the device further includes:

[0123] The instruction receiving module is configured to, after sending the satellite positioning enable request to the vehicle communication master control system so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of the communication information and generate an information transmission judgment instruction, update the satellite positioning status flag to the available state if it receives an information transmission judgment instruction from the vehicle communication master control system as a stop information transmission instruction and / or receives an information transmission completion instruction from the vehicle communication system.

[0124] The vehicle satellite positioning control device provided in the embodiments of the present invention can execute the vehicle satellite positioning control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0125] Example 5

[0126] Figure 5 A schematic diagram of an electronic device 50 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0127] like Figure 5As shown, the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, communicatively connected to the at least one processor 51. The memory stores computer programs executable by the at least one processor. The processor 51 can perform various appropriate actions and processes based on the computer program stored in the ROM 52 or loaded into the RAM 53 from storage unit 58. The RAM 53 can also store various programs and data required for the operation of the electronic device 50. The processor 51, ROM 52, and RAM 53 are interconnected via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0128] Multiple components in electronic device 50 are connected to I / O interface 55, including: input unit 56, such as keyboard, mouse, etc.; output unit 57, such as various types of monitors, speakers, etc.; storage unit 58, such as disk, optical disk, etc.; and communication unit 59, such as network card, modem, wireless transceiver, etc. Communication unit 59 allows electronic device 50 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0129] Processor 51 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 51 performs the various methods and processes described above, such as the control method for vehicle satellite positioning.

[0130] In some embodiments, the vehicle satellite positioning control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the vehicle satellite positioning control method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the vehicle satellite positioning control method by any other suitable means (e.g., by means of firmware).

[0131] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0132] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0133] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0134] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0135] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0136] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0137] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0138] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A control method for vehicle satellite positioning, characterized in that, An in-vehicle positioning and communication system applied to a vehicle, wherein the vehicle terminal further includes an in-vehicle communication main control system and an in-vehicle satellite communication system, wherein the in-vehicle positioning and communication system and the in-vehicle satellite communication system are respectively communicatively connected to the in-vehicle communication main control system, and the method includes: Upon receiving a stop positioning request from the vehicle-side communication main control system, satellite positioning status information is obtained; Based on the satellite positioning status information and a preset satellite positioning shutdown condition, a feedback request is generated. If the feedback request is a confirmation stop request, then the satellite positioning status flag is updated to an unavailable state to terminate vehicle positioning using satellite positioning; and, The feedback request is sent to the vehicle communication master control system, so that when the vehicle communication master control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion instruction to the vehicle positioning communication system. The system receives the information and sends a completion command, and updates the satellite positioning status flag to an available state, thereby initiating vehicle positioning using the satellite positioning method. The process, following the update of the satellite positioning status flag to an unavailable state, also includes: Obtain the initial weight values ​​of the positioning sources of the vehicle-mounted positioning and communication system itself; the positioning sources include satellite positioning sources and inertial navigation positioning sources; The initial weight values ​​of the satellite positioning source and the inertial navigation positioning source are updated using preset reference weight values ​​to obtain the current weight values ​​of the satellite positioning source and the inertial navigation positioning source. Accordingly, after updating the satellite positioning status flag to an available state, the method further includes: The initial weight values ​​of the satellite positioning source and the inertial navigation positioning source are used to update the current weight values ​​of the satellite positioning source and the inertial navigation positioning source, respectively.

2. The method according to claim 1, characterized in that, The satellite positioning status information includes information on the number of satellites received, positioning accuracy, and positioning mode; correspondingly, based on the satellite positioning status information and a preset satellite positioning shutdown condition, a feedback request is generated, including: Based on the received satellite quantity information, and according to preset quantity judgment conditions, a first judgment result is generated; and, Based on the positioning accuracy information and a preset accuracy judgment condition, a second judgment result is generated; and, Based on the positioning mode information and preset mode judgment conditions, a third judgment result is generated; A feedback request is generated based on the first judgment result, the second judgment result, and the third judgment result.

3. The method according to claim 2, characterized in that, The step of generating a feedback request based on the first judgment result, the second judgment result, and the third judgment result includes: If the first judgment result, the second judgment result, and the third judgment result all meet the preset judgment condition of high satellite positioning accuracy, then a feedback request that cannot be stopped is generated. If any of the first, second, and third judgment results does not meet the preset judgment condition of high satellite positioning accuracy, a feedback request to confirm the stop request will be generated.

4. The method according to claim 1, characterized in that, After updating the satellite positioning status flag to an unavailable state to terminate vehicle positioning using satellite positioning if the feedback request is a confirmation stop request, the method further includes: Obtain the current mileage traveled by the vehicle in the current time period; Based on the current vehicle mileage, and using a preset mileage threshold, a request to enable satellite positioning is generated. The satellite positioning activation request is sent to the vehicle communication master control system, so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of the communication information, and generate an information transmission judgment instruction.

5. The method according to claim 4, characterized in that, After sending the satellite positioning activation request to the vehicle communication master control system, so that the vehicle communication master control system can determine whether to send a stop information transmission request to the vehicle communication master control system according to the priority of the communication information, and generate an information transmission judgment instruction, the method further includes: If the information transmission judgment instruction received from the vehicle communication master control system is a stop information transmission instruction, and / or the information transmission completion instruction received from the vehicle communication system is received, then the satellite positioning status flag will be updated to an available state.

6. A control device for vehicle satellite positioning, characterized in that, A vehicle-mounted positioning and communication system configured on a vehicle, the vehicle-mounted device further including a vehicle-mounted communication main control system and a vehicle-mounted satellite communication system, the vehicle-mounted positioning and communication system and the vehicle-mounted satellite communication system being communicatively connected to the vehicle-mounted communication main control system, the device comprising: The status information acquisition module is used to acquire satellite positioning status information when it receives a stop positioning request sent by the vehicle-side communication main control system; The feedback request generation module is used to generate a feedback request based on the satellite positioning status information and a preset satellite positioning shutdown condition. The status update module is used to update the satellite positioning status flag to an unavailable state if the feedback request is a confirmation stop request, thereby terminating vehicle positioning using satellite positioning; and, The feedback request sending module is used to send the feedback request to the vehicle communication main control system, so that when the vehicle communication main control system determines that the feedback request is a confirmation stop request, it sends communication information to the vehicle satellite communication system, and after the communication information is sent, it sends an information sending completion instruction to the vehicle positioning communication system. The completion instruction receiving module is used to receive the information to send a completion instruction and update the satellite positioning status flag to an available state in order to start vehicle positioning using the satellite positioning method; The device further includes: The initial weight value acquisition module is used to acquire the initial weight value of the positioning source of the vehicle positioning communication system itself after the satellite positioning status flag is updated to an unavailable state; the positioning source includes a satellite positioning source and an inertial navigation positioning source; The first weight update module is used to update the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source respectively using preset reference weight values, so as to obtain the current weight values ​​of the satellite positioning source and the inertial navigation positioning source. The second weight update module, after updating the satellite positioning status flag to an available state, uses the initial weight values ​​of the satellite positioning source and the inertial navigation positioning source to update the current weight values ​​of the satellite positioning source and the inertial navigation positioning source, respectively.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle satellite positioning control method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the vehicle satellite positioning control method according to any one of claims 1-5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the vehicle satellite positioning control method according to any one of claims 1-5.

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